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\begin{document}
\lhead{Doplnit název předmětu}
\rhead{Matouš Raisigl, raisimat@fel.cvut.cz}
\begin{align*}
\begin{pmatrix}
\hat{\varepsilon}(k)\\
\hat{\varepsilon}(k+1)\\
\hat{\varepsilon}(k+2)\\
\vdots\\
\hat{\varepsilon}(k+T_p-1)
\end{pmatrix}
=
\begin{pmatrix}
C\\
CA\\
CA^2\\
\vdots\\
CA^{Tp-1}
\end{pmatrix}x(k)+
\begin{pmatrix}
D&&&&&\\
B&D&&&&\\
AB&B&D&&\\
\vdots&&&\ddots&\\
A^{T_p-2}B&A^{T_p-3}B&&\cdots&D
\end{pmatrix}
\begin{pmatrix}
u_0\\
u_0\\
u_0\\
\vdots\\
u_0
\end{pmatrix}\\
+\begin{pmatrix}
0&&&&&0\\
-A&I&&&&-B\\
-A^2&&I&&&-AB-B\\
\\
-A^{Tp-1}&&&&I&-A^{T_p-2}B-A^{T_p-2}\cdots-B
\end{pmatrix}
\begin{pmatrix}
\hat{\varepsilon}(k)\\
\hat{\varepsilon}(k+1)\\
\hat{\varepsilon}(k+2)\\
\vdots\\
\hat{\varepsilon}(k+Tp-1)\\
u_0
\end{pmatrix}
\end{align*}

\end{document}